accept Terry's changes

src/edu/nps/moves/spatial/EntityBodyCoordinates.java

+package edu.nps.moves.spatial;
+
+import SRM.*;
+
+/**
+ * Local coordinate system for an entity, e.g., relative to one UAV. This
+ * is typically embedded in another coordinate system, such as a range
+ * coordinate system. The origin of the local coordinate system should be
+ * the center of mass of the entity. The u axis points out the front, v axis
+ * out the right side of the entity, and the w axis down. The SRF is specified
+ * via a point (in the reference frame of the parent) and two unit vectors
+ * in the parent SRF, which are parallel to the entity u,v plane.  Directions, 
+ * orientations, and vector
+ * quantities are independent of the position of the lococenter WRT the
+ * parent SRF; if you're concerned only with directions, orientations, and
+ * vector quantities it doesn't matter where the origin is, so you can 
+ * pick someplace handy, like the origin of the parent SRF.
+ * 
+ * @author DMcG
+ */
+public class EntityBodyCoordinates 
+{
+    /** body-centric coordinate system for the entity */
+    SRF_LococentricEuclidean3D bodySRF;
+    
+    /** The coordinate system in which this body-centric coordinate system is embedded */
+    BaseSRF_3D parentSRF;
+    
+    /** origin of body-centric coordinate system, in the parent SRF */
+    Coord3D lococenter; 
+    
+    /** Create a new lococentric Euclidean reference frame embedded in a parent SRF.
+     * The origin of the lococentric coordinate system is specified, along with
+     * two unit vectors, parallel to the u and v axes.
+     * @param parentSRF
+     * @param x
+     * @param y
+     * @param z
+     * @param primaryDirectionX
+     * @param primaryDirectionY
+     * @param primaryDirectionZ
+     * @param secondaryDirectionX
+     * @param secondaryDirectionY
+     * @param secondaryDirectionZ
+     */
+    public EntityBodyCoordinates(BaseSRF_3D parentSRF, 
+                                 float x, float y, float z, // lococenter, in parent SRF
+                                 float primaryDirectionX, float primaryDirectionY, float primaryDirectionZ, // unit vector parallel to u axis
+                                 float secondaryDirectionX, float secondaryDirectionY, float secondaryDirectionZ) // unit vector parallel to v axis
+    {
+        try
+        {
+            this.parentSRF = parentSRF;
+            this.lococenter = parentSRF.createCoordinate3D(x, y, z); 
+            
+            // Unit vector along entity u axis in parent SRF
+            double[] d1 = {primaryDirectionX, primaryDirectionY, primaryDirectionZ};
+            Direction primaryAxisDirection = parentSRF.createDirection(lococenter, d1);
+            
+            // Unit vector along v axis in parent SRF
+            double[] d2 = {secondaryDirectionX, secondaryDirectionY, secondaryDirectionZ};
+            Direction secondaryAxisDirection = parentSRF.createDirection(lococenter, d2);
+            
+            this.bodySRF = parentSRF.createLococentricEuclidean3DSRF(lococenter, primaryAxisDirection, primaryAxisDirection);     
+        }
+        catch(SrmException e)
+        {
+            System.err.print(e);
+        }
+    }
+    
+}